From e50455a16b039ab0438f5c6fb7f26c824874df0c Mon Sep 17 00:00:00 2001
From: ThinkPad-T460P <ibookshiyi@gmail.com>
Date: Thu, 7 Jan 2021 19:01:08 +0800
Subject: [PATCH] release v0.9.5

---
 .cproject               |   2 +-
 Core/Inc/main.h         |   8 +-
 Core/Src/freertos.c     | 208 +++++++++++++++++++++++++++-------------
 Core/Src/gpio.c         |  15 +--
 Core/Src/navikit.c      |  70 ++++++--------
 Core/Src/stm32f1xx_it.c |   8 +-
 Core/Src/usart.c        |   6 +-
 Middlewares/Log/log.c   |  57 +++++++----
 Middlewares/Log/log.h   |  16 +++-
 NaviKit_stm32.ioc       |   8 +-
 README.md               |   7 +-
 11 files changed, 248 insertions(+), 157 deletions(-)

diff --git a/.cproject b/.cproject
index e07bc2f..5927436 100644
--- a/.cproject
+++ b/.cproject
@@ -43,7 +43,7 @@
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F107xC"/>
 									<listOptionValue builtIn="false" value="DEBUG"/>
-									<listOptionValue builtIn="false" value="APP_VERSION=&quot;V0.9.4&quot;"/>
+									<listOptionValue builtIn="false" value="APP_VERSION=&quot;V0.9.5&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.186388616" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Core/Inc"/>
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index ca5352e..c9b865f 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -174,11 +174,11 @@ void ISP_Judge();
 #define SOM_FORCE_RECOVERY_GPIO_Port GPIOD
 #define SYS_SWO_Pin GPIO_PIN_3
 #define SYS_SWO_GPIO_Port GPIOB
-#define SOM_SYS_RESET_Pin GPIO_PIN_4
-#define SOM_SYS_RESET_GPIO_Port GPIOB
-#define SOM_SYS_RESET_EXTI_IRQn EXTI4_IRQn
-#define SOM_MOD_SLEEP_Pin GPIO_PIN_5
+#define SOM_MOD_SLEEP_Pin GPIO_PIN_4
 #define SOM_MOD_SLEEP_GPIO_Port GPIOB
+#define SOM_MOD_SLEEP_EXTI_IRQn EXTI4_IRQn
+#define SOM_SYS_RESET_Pin GPIO_PIN_5
+#define SOM_SYS_RESET_GPIO_Port GPIOB
 #define IIC1_SCL_Pin GPIO_PIN_8
 #define IIC1_SCL_GPIO_Port GPIOB
 #define IIC1_SDA_Pin GPIO_PIN_9
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 21f7895..0e7dcbd 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,10 +1,3 @@
-/*
- * @Description: 
- * @Date: 2020-04-02 21:44:31
- * @LastEditors: CK.Zh
- * @LastEditTime: 2021-01-07 14:49:31
- * @FilePath: \NaviKit_stm32\Core\Src\freertos.c
- */
 /* USER CODE BEGIN Header */
 /**
   ******************************************************************************
@@ -62,6 +55,8 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
+
+//Timer
 osTimerId_t PwrBtnLongPressTimerHandle;
 const osTimerAttr_t PwrBtnLongPressTimer_attributes = {
   .name = "PwrBtnLongPressTimer"
@@ -78,6 +73,38 @@ osTimerId_t CustBtnShortPressTimerHandle;
 const osTimerAttr_t CustBtnShortPressTimer_attributes = {
   .name = "CustBtnShortPressTimer"
 };
+osTimerId_t IdleStateHoldTimerHandle;
+const osTimerAttr_t IdleStateHoldTimer_attributes = {
+  .name = "IdleStateHoldTimer"
+};
+
+//Thread
+osThreadId_t LogtoUartTaskHandle;
+const osThreadAttr_t LogtoUartTask_attributes = {
+  .name = "LogtoUartTask",
+  .priority = (osPriority_t) osPriorityBelowNormal,
+  .stack_size = 128 * 4
+};
+
+osThreadId_t TestTask1Handle;
+const osThreadAttr_t TestTask1_attributes = {
+  .name = "TestTask1",
+  .priority = (osPriority_t) osPriorityNormal,
+  .stack_size = 128 * 4
+};
+osThreadId_t TestTask2Handle;
+const osThreadAttr_t TestTask2_attributes = {
+  .name = "TestTask2",
+  .priority = (osPriority_t) osPriorityBelowNormal,
+  .stack_size = 128 * 4
+};
+
+//Queue
+//osMessageQueueId_t LogMessageQueueHandle;
+//const osMessageQueueAttr_t LogMessageQueue_attributes = {
+//  .name = "LogMessageQueue"
+//};
+
 /* USER CODE END Variables */
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
@@ -119,12 +146,20 @@ const osThreadAttr_t EventDetect_attributes = {
 /* USER CODE BEGIN FunctionPrototypes */
 
 bool isWakeUpReset() {	return  __HAL_PWR_GET_FLAG(PWR_FLAG_WU);}
-
+//callback
 void PwrBtnLongPressTimerCallback(void *argument);
 void CustBtnLongPressTimerCallback(void *argument);
 void PwrBtnShortPressTimerCallback(void *argument);
 void CustBtnShortPressTimerCallback(void *argument);
 
+void IdleStateHoldTimerCallback(void *argument);
+
+//task
+void StartLogtoUartTask(void *argument);
+
+void StartTestTask1(void *argument);
+void StartTestTask2(void *argument);
+
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
@@ -229,10 +264,14 @@ void MX_FREERTOS_Init(void) {
   CustBtnLongPressTimerHandle = osTimerNew(CustBtnLongPressTimerCallback, osTimerOnce, NULL, &CustBtnLongPressTimer_attributes);
   PwrBtnShortPressTimerHandle = osTimerNew(PwrBtnShortPressTimerCallback, osTimerOnce, NULL, &PwrBtnShortPressTimer_attributes);
   CustBtnShortPressTimerHandle = osTimerNew(CustBtnShortPressTimerCallback, osTimerOnce, NULL, &CustBtnShortPressTimer_attributes);
+  IdleStateHoldTimerHandle = osTimerNew(IdleStateHoldTimerCallback, osTimerOnce, NULL, &IdleStateHoldTimer_attributes);
+
   /* USER CODE END RTOS_TIMERS */
 
   /* USER CODE BEGIN RTOS_QUEUES */
   /* add queues, ... */
+//  LogMessageQueueHandle = osMessageQueueNew (1024, sizeof(uint8_t), &LogMessageQueue_attributes);
+
   /* USER CODE END RTOS_QUEUES */
 
   /* Create the thread(s) */
@@ -253,6 +292,9 @@ void MX_FREERTOS_Init(void) {
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
+//   LogtoUartTaskHandle = osThreadNew(StartLogtoUartTask, NULL, &LogtoUartTask_attributes);
+//  TestTask1Handle = osThreadNew(StartTestTask1, NULL, &TestTask1_attributes);
+//  TestTask2Handle = osThreadNew(StartTestTask2, NULL, &TestTask2_attributes);
 
   /* USER CODE END RTOS_THREADS */
 
@@ -290,16 +332,16 @@ void StartDefaultTask(void *argument)
 			else{
 				NaviKit.sys.power_btn = true;
 			}
-			Log(info,"EC Reset source :Power Button WakeUP");
+			Log(info,sys,"EC Reset source :Power Button WakeUP");
 		}else{
 			NaviKit.sys.next_sta = idle;
-			Log(info,"EC Reset source :RTC WakeUP");
+			Log(info,sys,"EC Reset source :RTC WakeUP");
 			enter_standby_state();
 		}
 	}else{//judge reset source "power on"
-		Log(info,"EC Reset source :PowerON");
+		Log(info,sys,"EC Reset source :PowerON");
 		if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET){
-			Log(debug,"EC next state isp");
+			Log(debug,sys,"EC next state isp");
 			NaviKit.sys.next_sta = isp;
 		}else{
 			NaviKit.sys.next_sta = idle;
@@ -307,21 +349,21 @@ void StartDefaultTask(void *argument)
 		TaskBeep(50,1);
 	}
 
-	Log(info,"----------------------------------------------");
-	Log(info,"Copyright (c) Powered by www.autolabor.com.cn");
+	Log(info,sys,"----------------------------------------------");
+	Log(info,sys,"Copyright (c) Powered by www.autolabor.com.cn");
 
-	Log(info,"EC Firmware: %s[%s], build: %s, %s, by STD:%u",APP_VERSION,DEPLOY_MODE,__DATE__ ,__TIME__,__STDC_VERSION__  );
-	Log(info,"HAL Version: %u ", HAL_GetHalVersion());
-	Log(info,"Revision ID: %u ", HAL_GetREVID());
-	Log(info,"Device ID: %u ", HAL_GetDEVID());
-	Log(info,"Chip UID: %u%u%u ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2());
+	Log(info,sys,"EC Firmware: %s[%s], build: %s, %s, by STD:%u",APP_VERSION,DEPLOY_MODE,__DATE__ ,__TIME__,__STDC_VERSION__  );
+	Log(info,sys,"HAL Version: %u ", HAL_GetHalVersion());
+	Log(info,sys,"Revision ID: %u ", HAL_GetREVID());
+	Log(info,sys,"Device ID: %u ", HAL_GetDEVID());
+	Log(info,sys,"Chip UID: %u%u%u ", HAL_GetUIDw0(),HAL_GetUIDw1(),HAL_GetUIDw2());
 
 	if(osOK == osKernelGetInfo(&osVersion,id_buf,id_size)){
-		Log(info,"OS Kernel Version: %u ", osVersion.kernel);
-		Log(info,"OS Kernel ID: %s ",id_buf);
+		Log(info,sys,"OS Kernel Version: %u ", osVersion.kernel);
+		Log(info,sys,"OS Kernel ID: %s ",id_buf);
 	}
-	Log(info,"Core initial successfully");
-	Log(info,"----------------------------------------------");
+	Log(info,sys,"Core initial successfully");
+	Log(info,sys,"----------------------------------------------");
 
   /* Infinite loop */
   for(;;)
@@ -344,8 +386,8 @@ void StartDefaultTask(void *argument)
 				}else{
 					NaviKit.sys.next_sta = NaviKit.sys.sta;
 					TaskBeep(500,2);
-					Log(error,"Main power not exist, retry after plug in it.");
-					 Log(fatal,"Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
+					Log(error,pmb,"Main power not exist, retry after plug in it.");
+					 Log(fatal,pmb,"Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
 				}
 			}break;
 			case sleep:{
@@ -359,8 +401,8 @@ void StartDefaultTask(void *argument)
 				}else{
 					NaviKit.sys.next_sta = NaviKit.sys.sta;
 					TaskBeep(500,2);
-					Log(error,"Main power not exist, retry after plug in it.");
-					 Log(fatal,"Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
+					Log(error,pmb,"Main power not exist, retry after plug in it.");
+					 Log(fatal,pmb,"Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
 				}
 			}break;
 			case isp:{
@@ -370,6 +412,17 @@ void StartDefaultTask(void *argument)
     	}
     }
 
+	  if(NaviKit.sys.sta == idle && NaviKit.sys.next_sta == idle){//idle state
+//			  if((NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2)
+//			  || (NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)){//Not Charge or float charge
+//				  NaviKit.sys.next_sta = standby;
+//			  }
+
+		  if(!osTimerIsRunning(IdleStateHoldTimerHandle)){
+		  			osTimerStart(IdleStateHoldTimerHandle,5000);
+		  }
+	  }
+
   }
   /* USER CODE END StartDefaultTask */
 }
@@ -488,10 +541,10 @@ void StartPowerMonitTask(void *argument)
 
 		if(NaviKit.pmb.rails.main_pwr > 30){
 				TaskBeep(200,1);
-			 Log(fatal,"Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
+			 Log(fatal,pmb,"Main power is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
 		}
 		if(NaviKit.pmb.rails.bkp_bat > 15){
-			 Log(fatal,"Backup battery is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+			 Log(fatal,pmb,"Backup battery is exception:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
 				TaskBeep(200,1);
 		}
 		//stat1 stat2   lead-acid
@@ -503,55 +556,49 @@ void StartPowerMonitTask(void *argument)
 		NaviKit.pmb.sta.chrg_stat2 = (bool)HAL_GPIO_ReadPin(PMB_CHRG_STAT2_GPIO_Port, PMB_CHRG_STAT2_Pin);
 
 		if(!NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)
-			Log(trace,"Backup battery status:%dmV Bulk Charge(Vth=12.6V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+			Log(trace,pmb,"Backup battery status:%dmV Bulk Charge(Vth=12.6V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
 		if(!NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2)
-			Log(trace,"Backup battery status:%dmV Absorption Charge(Vth=14.4V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+			Log(trace,pmb,"Backup battery status:%dmV Absorption Charge(Vth=14.4V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
 		if(NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)
-			Log(trace,"Backup battery status:%dmV Float Charge(Vth=13.3V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+			Log(trace,pmb,"Backup battery status:%dmV Float Charge(Vth=13.3V)",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
 		if(NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2)
-			Log(trace,"Backup battery status:%dmV Not Charge",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+			Log(trace,pmb,"Backup battery status:%dmV Not Charge",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
 
 		if(NaviKit.sys.sta == run || NaviKit.sys.sta == dfu ){
 			if(NaviKit.pmb.rails.main_pwr < 19){
 				TaskBeep(200,1);
-				 Log(warning,"Main power has been lost, please shutdown computer as soon as possible:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
+				 Log(warning,pmb,"Main power has been lost, please shutdown computer as soon as possible:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
 			}else
-				Log(trace,"Main power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
+				Log(trace,pmb,"Main power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.main_pwr*1000));
 
 			if(NaviKit.pmb.rails.out_24v > 26.4 || NaviKit.pmb.rails.out_24v < 21.6)
-				 Log(fatal,"PMB's 24V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_24v*1000));
+				 Log(fatal,pmb,"24V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_24v*1000));
 			else
-				Log(trace,"PMB's 24V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_24v*1000));
+				Log(trace,pmb,"24V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_24v*1000));
 
 			if(NaviKit.pmb.rails.out_5v > 5.5 || NaviKit.pmb.rails.out_5v < 4.5)
-				 Log(fatal,"PMB's 5V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_5v*1000));
+				 Log(fatal,pmb,"5V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_5v*1000));
 			else
-				Log(trace,"PMB's 5V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_5v*1000));
+				Log(trace,pmb,"5V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_5v*1000));
 
 			if(NaviKit.pmb.rails.out_12v > 13.2 || NaviKit.pmb.rails.out_12v < 10.8)
-				 Log(fatal ,"PMB's 12V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_12v*1000));
+				 Log(fatal ,pmb,"12V(±10%%) power rail exception:%dmV",(uint32_t)(NaviKit.pmb.rails.out_12v*1000));
 			else
-				Log(trace,"PMB's 12V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_12v*1000));
+				Log(trace,pmb,"12V(±10%%) power rail regular:%dmV",(uint32_t)(NaviKit.pmb.rails.out_12v*1000));
 
 			if(NaviKit.pmb.rails.bkp_bat < 9.5)
-				 Log(warning,"Backup battery exception:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+				 Log(warning,pmb,"Backup battery exception:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
 			else
-				Log(trace,"Backup battery is regular:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
+				Log(trace,pmb,"Backup battery is regular:%dmV",(uint32_t)(NaviKit.pmb.rails.bkp_bat*1000));
 
 		    osDelay(2000);
 
 	  }else {//not run state
 		  osDelay(5000);
-		  if(NaviKit.sys.sta == idle && NaviKit.sys.next_sta == idle){//idle state
-//			  if((NaviKit.pmb.sta.chrg_stat1 && NaviKit.pmb.sta.chrg_stat2)
-//			  || (NaviKit.pmb.sta.chrg_stat1 && !NaviKit.pmb.sta.chrg_stat2)){//Not Charge or float charge
-//				  NaviKit.sys.next_sta = standby;
-//			  }
-			  NaviKit.sys.next_sta = standby;
-		  }
+
 	  }
-		Log(debug,"state :%d",NaviKit.sys.sta);
-		Log(debug,"next_state :%d",NaviKit.sys.next_sta);
+//		Log(debug,sys,"state :%d",NaviKit.sys.sta);
+//		Log(debug,sys,"next_state :%d",NaviKit.sys.next_sta);
 
   }
   /* USER CODE END StartPowerMonitTask */
@@ -574,7 +621,7 @@ void StartEventDetect(void *argument)
 	  	  //power button
 		if(NaviKit.sys.power_btn && !osTimerIsRunning(PwrBtnLongPressTimerHandle)){
 			osTimerStart(PwrBtnLongPressTimerHandle,1500);
-			osTimerStart(PwrBtnShortPressTimerHandle,200);
+			osTimerStart(PwrBtnShortPressTimerHandle,100);
 		}
 	    osDelay(2);
 		if(!NaviKit.sys.power_btn && osTimerIsRunning(PwrBtnLongPressTimerHandle)){
@@ -590,7 +637,7 @@ void StartEventDetect(void *argument)
 	    osDelay(2);
 		if(NaviKit.sys.custom_btn && !osTimerIsRunning(CustBtnLongPressTimerHandle)){
 			osTimerStart(CustBtnLongPressTimerHandle,1500);
-			osTimerStart(CustBtnShortPressTimerHandle,200);
+			osTimerStart(CustBtnShortPressTimerHandle,100);
 		}
 	    osDelay(2);
   }
@@ -599,28 +646,49 @@ void StartEventDetect(void *argument)
 
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
+
+void StartLogtoUartTask(void *argument){
+	
+	// HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,2);
+}
+
+void StartTestTask1(void *argument){
+	uint8_t i=0;
+	for(;;){
+		Log(debug,sys,"test task 1 [%d].",i++);
+		osDelay(1000);
+	}
+}
+void StartTestTask2(void *argument){
+	uint8_t i=0;
+	for(;;){
+		Log(debug,sys,"test task 2 [%d].",i++);
+		osDelay(1000);
+	}
+}
 void PwrBtnLongPressTimerCallback(void *argument)
 {
-  Log(trace,"power btn long pressed.");
+  Log(trace,sys,"power btn long pressed.");
     switch(NaviKit.sys.sta){
-      case run:  {NaviKit.sys.next_sta = idle;Log(trace,"change to idle");      }break;//system is run now, user request to idle
-      case idle: {NaviKit.sys.next_sta = run;Log(trace,"change to run");      }break;//system is idle now , user request to power on
-      case dfu:  {NaviKit.sys.next_sta = idle;Log(trace,"change to idle");      }break;
-      case sleep:{NaviKit.sys.next_sta = run;Log(trace,"change to run");      }break;
-      case isp:  {NaviKit.sys.next_sta = idle;Log(trace,"change to idle");      }break;
+      case run:  {NaviKit.sys.next_sta = idle;Log(trace,sys,"change to idle");      }break;//system is run now, user request to idle
+      case idle: {NaviKit.sys.next_sta = run;Log(trace,sys,"change to run");      }break;//system is idle now , user request to power on
+      case dfu:  {NaviKit.sys.next_sta = idle;Log(trace,sys,"change to idle");      }break;
+      case sleep:{NaviKit.sys.next_sta = run;Log(trace,sys,"change to run");      }break;
+      case isp:  {NaviKit.sys.next_sta = idle;Log(trace,sys,"change to idle");      }break;
       default : break;
     }
 }
 void CustBtnLongPressTimerCallback(void *argument)
 {
-  Log(trace,"custom btn long pressed.");
+  Log(trace,sys,"custom btn long pressed.");
     switch(NaviKit.sys.sta){
       case run:{//system is run now, user request to reboot SOM
-    	  som_reboot(200);
+    	  som_reboot(100);
       }break;
       case idle:{
       }break;
       case dfu:{
+    	  som_reboot(100);
       }break;
       case sleep:{
       }break;
@@ -629,11 +697,11 @@ void CustBtnLongPressTimerCallback(void *argument)
 }
 void PwrBtnShortPressTimerCallback(void *argument)
 {
-  Log(trace,"power btn short pressed.");
+  Log(trace,sys,"power btn short pressed.");
     switch(NaviKit.sys.sta){
       case run:  {//som is running, send sleep requeset to operate system
-    	  PWR_Enable(SOM_SLEEP,true,150);
-    	  Log(trace,"Request sleep dialog.");
+    	  Log(trace,som,"Request operate system pop up the shutdown dialog.");
+    	  PWR_Enable(SOM_SLEEP,true,100);
     	  PWR_Enable(SOM_SLEEP,false,0);
       }break;
       case idle: {     }break;//system is idle now , user request to power on
@@ -645,9 +713,9 @@ void PwrBtnShortPressTimerCallback(void *argument)
 }
 void CustBtnShortPressTimerCallback(void *argument)
 {
-  Log(trace,"custom btn short pressed.");
+  Log(trace,sys,"custom btn short pressed.");
     switch(NaviKit.sys.sta){
-      case run:{//system is run now, user request to reboot SOM
+      case run:{
       }break;
       case idle:{
       }break;
@@ -658,6 +726,12 @@ void CustBtnShortPressTimerCallback(void *argument)
       default : break;
     }
 }
+void IdleStateHoldTimerCallback(void *argument){
+	if(NaviKit.sys.sta == idle && NaviKit.sys.next_sta == idle){
+	  Log(trace,sys,"Idle state duration more than 5000ms.");
+	  NaviKit.sys.next_sta = standby;
+	}
+}
 
 
 /* USER CODE END Application */
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index a3f8f32..5d5e640 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -65,7 +65,7 @@ void MX_GPIO_Init(void)
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOB, IIC2_SCL_Pin|IIC2_SDA_Pin|USB2_VBUS_CTL_1_Pin|USB2_VBUS_CTL_2_Pin
-                          |USB2_VBUS_CTL_3_Pin|USB2_VBUS_CTL_4_Pin, GPIO_PIN_RESET);
+                          |USB2_VBUS_CTL_3_Pin|USB2_VBUS_CTL_4_Pin|SOM_SYS_RESET_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOD, USB2_VBUS_CTL_5_Pin|USB2_VBUS_CTL_6_Pin|USB3_VBUS_CTL_5_Pin|USB3_VBUS_CTL_6_Pin
@@ -169,16 +169,17 @@ void MX_GPIO_Init(void)
   HAL_GPIO_Init(SOM_SHUTDOWN_REQ_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = SOM_SYS_RESET_Pin;
+  GPIO_InitStruct.Pin = SOM_MOD_SLEEP_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
   GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(SOM_SYS_RESET_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(SOM_MOD_SLEEP_GPIO_Port, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = SOM_MOD_SLEEP_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(SOM_MOD_SLEEP_GPIO_Port, &GPIO_InitStruct);
+  GPIO_InitStruct.Pin = SOM_SYS_RESET_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(SOM_SYS_RESET_GPIO_Port, &GPIO_InitStruct);
 
 }
 
diff --git a/Core/Src/navikit.c b/Core/Src/navikit.c
index 8729c4e..9f88622 100644
--- a/Core/Src/navikit.c
+++ b/Core/Src/navikit.c
@@ -2,7 +2,7 @@
  * @Description: 
  * @Date: 2020-04-17 13:16:16
  * @LastEditors: CK.Zh
- * @LastEditTime: 2021-01-06 17:04:41
+ * @LastEditTime: 2021-01-07 18:00:29
  * @FilePath: \NaviKit_stm32\Core\Src\navikit.c
  */
 /*
@@ -63,7 +63,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 				  if(NaviKit.sys.sta == run){//if jetson nano shutdown output low,the power_en should be set low less than 10us
 						PWR_Enable(SOM_PWR_EN,false,0);
 						NaviKit.sys.next_sta = idle;
-						Log(info,"SOM's shutdown_req pin falling edge, SOM request to shutdown.");
+						Log(info,som,"SOM's shutdown_req pin falling edge, SOM request to shutdown.");
 				  }
 			}else{//Rising edge trigger
 				}
@@ -71,26 +71,26 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 
 		case SOM_MOD_SLEEP_Pin:{
 			if(HAL_GPIO_ReadPin(SOM_MOD_SLEEP_GPIO_Port, SOM_MOD_SLEEP_Pin)==GPIO_PIN_SET){//Rising edge trigger
-				Log(info,"SOM's sleep pin rising edge.");
+				Log(info,som,"SOM's sleep pin rising edge.");
 			}else{//falling edge trigger
-				Log(trace,"SOM's sleep pin falling edge.");
+				Log(trace,som,"SOM's sleep pin falling edge.");
 			}
 		}break;
 		case SYS_POWER_BTN_Pin:{
 			if(HAL_GPIO_ReadPin(SYS_POWER_BTN_GPIO_Port, SYS_POWER_BTN_Pin)==GPIO_PIN_SET){//Rising edge trigger
 				NaviKit.sys.power_btn = true;
-				Log(debug,"power_btn status: pressed.");
+				Log(debug,sys,"power_btn status: pressed.");
 			}else{//falling edge trigger
 				NaviKit.sys.power_btn = false;
-				Log(debug,"power_btn status: released.");
+				Log(debug,sys,"power_btn status: released.");
 			}
 		}break;
 		case SYS_CUSTOM_BTN_Pin:{
 			if(HAL_GPIO_ReadPin(SYS_CUSTOM_BTN_GPIO_Port, SYS_CUSTOM_BTN_Pin)==GPIO_PIN_RESET){//falling edge trigger
-				Log(debug,"custom_btn status: pressed.");
+				Log(debug,sys,"custom_btn status: pressed.");
 				NaviKit.sys.custom_btn = true;
 			}else{//Rising edge trigger
-				Log(debug,"custom_btn status: released.");
+				Log(debug,sys,"custom_btn status: released.");
 				NaviKit.sys.custom_btn = false;
 			}
 		}break;
@@ -100,7 +100,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 
 
 void enter_standby_state(){
-	  Log(info,"Enter to STANDBY Mode to save power, see you!");
+	  Log(info,sys,"Enter to STANDBY Mode to save power, see you!");
 		HAL_PWR_EnableWakeUpPin(PWR_WAKEUP_PIN1);//Enable PA0 wakeup function
 	    __HAL_RCC_RTC_DISABLE();
 	  HAL_PWR_EnterSTANDBYMode();
@@ -124,19 +124,19 @@ void enter_isp_state()
     if(HAL_RTCEx_BKUPRead(&hrtc,ISP_BKP_DR) == BKP_DR_Jump_to_ISP)
     {//write successful
 		TaskBeep(400,5);
-        Log(info,"Enter to EC update state.");
-        Log(info,"EC will reboot ,then run ISP automatic.");
+        Log(info,sys,"Enter to EC update state.");
+        Log(info,sys,"EC will reboot ,then run ISP automatic.");
         HAL_NVIC_SystemReset();
     }
     else{
-        Log(error,"Backup register writen error, can not enter EC update state.");
+        Log(error,sys,"Backup register writen error, can not enter EC update state.");
     }
 }
 
 //timeout:the time of wait
 void enter_idle_state(uint16_t delay)
 {
-	Log(info,"Enter to idle state.");
+	Log(info,sys,"Enter to idle state.");
 	TaskBeep(50,1);
 
 	PWR_Enable(SOM_SLEEP,true,delay);
@@ -165,25 +165,22 @@ void enter_idle_state(uint16_t delay)
 	PWR_Enable(SYS_FAN2 ,false , delay);
 	PWR_Enable(SYS_FAN3 ,false , delay);
 
-	osDelay(5000);
-
-	TaskBeep(50,1);
-
     PWR_Enable(SOM_PWR_EN ,false, delay);
 
-	PWR_Enable(PMB_PS_ON ,false , delay);
+	PWR_Enable(PMB_PS_ON ,false , 0);
 }
 
 
 
 void enter_run_state(uint16_t delay)
 {
-	Log(info,"Enter to run state");
+	Log(info,sys,"Enter to run state");
 	TaskBeep(200,1);
 
 	PWR_Enable(PMB_PS_ON ,true, delay);
 
-  	PWR_Enable(SOM_DFU ,false, delay);
+  	PWR_Enable(SOM_DFU ,false, 0);		//disable dfu pin
+	PWR_Enable(SOM_RESET , false , 0);	//disable reset pin
 
 	PWR_Enable(SYS_FAN1 ,true , delay);
 	PWR_Enable(SYS_FAN2 ,true , delay);
@@ -214,18 +211,19 @@ void enter_run_state(uint16_t delay)
 }
 void enter_sleep_state(uint16_t delay)
 {
-	Log(info,"Enter to sleep state.");
+	Log(info,sys,"Enter to sleep state.");
 	TaskBeep(50,1);
 }
 void enter_dfu_state(uint16_t delay)
 {
 
-  Log(info,"Enter to DFU state.");
+  Log(info,sys,"Enter to DFU state.");
   TaskBeep(500,3);
 
   PWR_Enable(PMB_PS_ON , true , delay);
 
-  PWR_Enable(SOM_DFU , true , delay);
+  PWR_Enable(SOM_DFU , true , 0);
+  PWR_Enable(SOM_RESET , false , 0);	//disable reset pin
 
   PWR_Enable(SYS_FAN1 , true , delay);
   PWR_Enable(SYS_FAN2 , true , delay);
@@ -233,27 +231,13 @@ void enter_dfu_state(uint16_t delay)
 
   PWR_Enable(SOM_PWR_EN , true , delay);
 
-  osDelay(100);
 }
 //para, delay：reset low level signal duration (ms)
 void som_reboot(uint16_t delay){
-	GPIO_InitTypeDef GPIO_InitStruct = {0};
-
-	  Log(info,"SOM rebooting...");
-
-	GPIO_InitStruct.Pin = SOM_SYS_RESET_Pin;
-	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-	GPIO_InitStruct.Pull = GPIO_NOPULL;
-	HAL_GPIO_Init(SOM_SYS_RESET_GPIO_Port, &GPIO_InitStruct);
-
-	PWR_Enable(SOM_RESET,true,delay);
-	TaskBeep(50,1);
-	PWR_Enable(SOM_RESET,false,0);
-
-	GPIO_InitStruct.Pin = SOM_SYS_RESET_Pin;
-	GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
-	GPIO_InitStruct.Pull = GPIO_PULLUP;
-	HAL_GPIO_Init(SOM_SYS_RESET_GPIO_Port, &GPIO_InitStruct);
+	  Log(info,som,"Jetson Nano rebooting...");
+		PWR_Enable(SOM_RESET,true,0);
+		TaskBeep(100,1);
+		PWR_Enable(SOM_RESET,false,0);
 }
 
 
@@ -288,7 +272,7 @@ void PWR_Enable(enum Device_t device,bool en,uint16_t delay){
 	case SOM_RESET: 	{HAL_GPIO_WritePin(SOM_SYS_RESET_GPIO_Port,		SOM_SYS_RESET_Pin, 		!en);			}break;
 	case SOM_SLEEP:  	{HAL_GPIO_WritePin(SOM_SLEEP_WAKE_GPIO_Port,	SOM_SLEEP_WAKE_Pin,		!en);			}break;
 	case PMB_PS_ON:  	{HAL_GPIO_WritePin(PMB_PS_ON_GPIO_Port,			PMB_PS_ON_Pin, 			en);			}break;
-	default:			{Log(error,"PWR_Enable device parameter is invalid.");									}break;
+	default:			{Log(error,sys,"PWR_Enable device parameter is invalid.");									}break;
 	}
 	osDelay(delay);
 }
@@ -324,7 +308,7 @@ bool PWR_Status(enum Device_t device){
 	case SOM_RESET:  	{sta = !HAL_GPIO_ReadPin(SOM_SYS_RESET_GPIO_Port,SOM_SYS_RESET_Pin);			}break;
 	case SOM_SLEEP:  	{sta = !HAL_GPIO_ReadPin(SOM_SLEEP_WAKE_GPIO_Port,SOM_SLEEP_WAKE_Pin);			}break;
 	case PMB_PS_ON:  	{sta = HAL_GPIO_ReadPin(PMB_PS_ON_GPIO_Port,PMB_PS_ON_Pin);						}break;
-	default:			{Log(error,"PWR_Status device parameter is invalid.");							}break;
+	default:			{Log(error,sys,"PWR_Status device parameter is invalid.");							}break;
     }
     return sta;
 }
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index eff17e3..ae9e931 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -91,7 +91,7 @@ void NMI_Handler(void)
 void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
-	Log(fatal,"HardFault_Handler");
+	Log(fatal,sys,"HardFault_Handler");
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
   {
@@ -106,7 +106,7 @@ void HardFault_Handler(void)
 void MemManage_Handler(void)
 {
   /* USER CODE BEGIN MemoryManagement_IRQn 0 */
-	Log(fatal,"MemManage_Handler");
+	Log(fatal,sys,"MemManage_Handler");
   /* USER CODE END MemoryManagement_IRQn 0 */
   while (1)
   {
@@ -121,7 +121,7 @@ void MemManage_Handler(void)
 void BusFault_Handler(void)
 {
   /* USER CODE BEGIN BusFault_IRQn 0 */
-	Log(fatal,"BusFault_Handler");
+	Log(fatal,sys,"BusFault_Handler");
   /* USER CODE END BusFault_IRQn 0 */
   while (1)
   {
@@ -136,7 +136,7 @@ void BusFault_Handler(void)
 void UsageFault_Handler(void)
 {
   /* USER CODE BEGIN UsageFault_IRQn 0 */
-	Log(fatal,"UsageFault_Handler");
+	Log(fatal,sys,"UsageFault_Handler");
   /* USER CODE END UsageFault_IRQn 0 */
   while (1)
   {
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 578df0b..c4aaa8a 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -182,11 +182,7 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
 PUTCHAR_PROTOTYPE
 {
-//	uint8_t time_out=3;
-//	while(!__HAL_UART_GET_FLAG(&huart1,UART_FLAG_TXE) && time_out--){
-//		HAL_Delay(1);
-//	}
-	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,100);
+	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,10);
 	return ch;
 }
 
diff --git a/Middlewares/Log/log.c b/Middlewares/Log/log.c
index e1e3357..278a31d 100644
--- a/Middlewares/Log/log.c
+++ b/Middlewares/Log/log.c
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-12-22 18:27:24
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2021-01-07 17:54:00
+ * @FilePath: \NaviKit_stm32\Middlewares\Log\log.c
+ */
 /*
  * log.c
  *
@@ -6,33 +13,43 @@
  */
 #include "log.h"
 
+static bool mutex =false;
 
-void Log(LogLevel_t loglevel,char *format,...)
+void Log(LogLevel_t level,LogPositon_t positon,char *format,...)
 {
-			switch(loglevel){
-				case trace:{
-					printf("[Trace  ] ") ;
-				}break;
-				case debug:{
-					printf("[Debug  ] ") ;
-				}break;
-				case info:{
-					printf("[Info   ] ") ;
-				}break;
-				case warning:{
-					printf("[Warning] ") ;
-				}break;
-				case error:{
-					printf("[Error  ] ") ;
-				}break;
-				case fatal:{
-					printf("[Fatal  ] ") ;
-				}break;
+	if(mutex){
+		unsigned char time_out = 100;
+		while(mutex && time_out--){//100ms timout for multi-thread use log function
+			osDelay(1);
+		}
+	}
+
+	if(!mutex){
+		mutex = true;
+
+			switch(level){
+				case trace:  {	printf("[Trace  ] ") ;				}break;
+				case debug:  {	printf("[Debug  ] ") ;				}break;
+				case info:   {	printf("[Info   ] ") ;				}break;
+				case warning:{	printf("[Warning] ") ;				}break;
+				case error:	 {	printf("[Error  ] ") ;				}break;
+				case fatal:  {	printf("[Fatal  ] ") ;				}break;
+				default:	 {	printf("[Undefined Level] ") ;		}break;
+			}
+			switch (positon)
+			{
+				case sys:{	printf("SYS: ") ;				}break;
+				case som:{	printf("SOM: ") ;				}break;
+				case pmb:{	printf("PMB: ") ;				}break;
+				default: {	printf("Undefined Position: ") ;}break;
 			}
 			printf("%u | ",osKernelGetTickCount());
 	        va_list args;
 	        va_start( args, format );
 			print(0, format, args );
 			printf("\n") ;
+			
+		mutex = false;
+	}
 }
 
diff --git a/Middlewares/Log/log.h b/Middlewares/Log/log.h
index 0e24fc6..eafe011 100644
--- a/Middlewares/Log/log.h
+++ b/Middlewares/Log/log.h
@@ -1,3 +1,10 @@
+/*
+ * @Description: 
+ * @Date: 2020-12-22 18:27:24
+ * @LastEditors: CK.Zh
+ * @LastEditTime: 2021-01-07 17:50:39
+ * @FilePath: \NaviKit_stm32\Middlewares\Log\log.h
+ */
 /*
  * log.h
  *
@@ -9,6 +16,7 @@
 #define LOG_LOG_H_
 
 #include <stdarg.h>
+#include <stdbool.h>
 
 typedef enum {
 	trace = 0,
@@ -19,5 +27,11 @@ typedef enum {
 	fatal =5
 }LogLevel_t;
 
-void Log(LogLevel_t loglevel,char *format, ...);
+typedef enum {
+	sys = 0,//system:board device and ec device
+	som = 1,//system on module: jetson nano
+	pmb = 2,//power manage board
+}LogPositon_t;
+
+void Log(LogLevel_t level,LogPositon_t positon,char *format, ...);
 #endif /* LOG_LOG_H_ */
diff --git a/NaviKit_stm32.ioc b/NaviKit_stm32.ioc
index a3370d4..e19c529 100644
--- a/NaviKit_stm32.ioc
+++ b/NaviKit_stm32.ioc
@@ -319,10 +319,12 @@ PB4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_RISING_FALLING
 PB4.GPIO_PuPd=GPIO_PULLUP
 PB4.Locked=true
 PB4.Signal=GPXTI4
-PB5.GPIOParameters=GPIO_Label
+PB5.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
 PB5.GPIO_Label=SOM_SYS_RESET
+PB5.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_OD
+PB5.GPIO_PuPd=GPIO_PULLUP
 PB5.Locked=true
-PB5.Signal=GPIO_Input
+PB5.Signal=GPIO_Output
 PB8.GPIOParameters=GPIO_Label
 PB8.GPIO_Label=IIC1_SCL
 PB8.Locked=true
@@ -650,4 +652,4 @@ VP_SYS_VS_tim1.Signal=SYS_VS_tim1
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
 board=custom
-isbadioc=true
+isbadioc=false
diff --git a/README.md b/README.md
index 1dde20d..c8074c1 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
  * @Author: CK.Zh
  * @Date: 2020-02-20 11:39:38
  * @LastEditors: CK.Zh
- * @LastEditTime: 2021-01-05 16:21:59
+ * @LastEditTime: 2021-01-07 15:23:09
  -->
 # NaviKit_stm32
  PM1导航套件中电源控制板源码，STM32F107VCT6，开发环境STM32CubeIDE
@@ -32,4 +32,7 @@
  `void HAL_PCD_IRQHandler(PCD_HandleTypeDef *hpcd)`函数内
  `HAL_PCD_SuspendCallback(hpcd); `代码段 务必屏蔽，否则导致枚举失败，提示获取设备描述符失败。
 
- > EC日志输出口波特率为56000bps
\ No newline at end of file
+ > EC日志输出口波特率为56000bps
+
+# 勘误
+ 硬件的v1.0以前版本中，SYS_RESET脚和MOD_SLEEP到单片机的实际连接与网络标号是相反的（问题发生在TXB0108PWR芯片附近），故代码中在GPIO处进行了相反的设置。
\ No newline at end of file